#include <math.h>#include <teb_local_planner/teb_config.h>#include <teb_local_planner/misc.h>#include <teb_local_planner/timed_elastic_band.h>#include <teb_local_planner/planner_interface.h>#include <teb_local_planner/visualization.h>#include <teb_local_planner/robot_footprint_model.h>#include "g2o/core/sparse_optimizer.h"#include "g2o/core/block_solver.h"#include "g2o/core/factory.h"#include "g2o/core/optimization_algorithm_gauss_newton.h"#include "g2o/core/optimization_algorithm_levenberg.h"#include "g2o/solvers/csparse/linear_solver_csparse.h"#include "g2o/solvers/cholmod/linear_solver_cholmod.h"#include <teb_local_planner/g2o_types/edge_velocity.h>#include <teb_local_planner/g2o_types/edge_acceleration.h>#include <teb_local_planner/g2o_types/edge_kinematics.h>#include <teb_local_planner/g2o_types/edge_time_optimal.h>#include <teb_local_planner/g2o_types/edge_obstacle.h>#include <teb_local_planner/g2o_types/edge_dynamic_obstacle.h>#include <teb_local_planner/g2o_types/edge_via_point.h>#include <nav_msgs/Path.h>#include <geometry_msgs/PoseStamped.h>#include <tf/transform_datatypes.h>#include <teb_local_planner/TrajectoryMsg.h>#include <nav_msgs/Odometry.h>#include <limits.h>
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Classes | |
| class | teb_local_planner::TebOptimalPlanner |
| This class optimizes an internal Timed Elastic Band trajectory using the g2o-framework. More... | |
Namespaces | |
| namespace | teb_local_planner |
Typedefs | |
| typedef g2o::BlockSolver < g2o::BlockSolverTraits<-1,-1 > > | teb_local_planner::TEBBlockSolver |
| Typedef for the block solver utilized for optimization. | |
| typedef g2o::LinearSolverCSparse < TEBBlockSolver::PoseMatrixType > | teb_local_planner::TEBLinearSolver |
| Typedef for the linear solver utilized for optimization. | |
| typedef boost::shared_ptr < const TebOptimalPlanner > | teb_local_planner::TebOptimalPlannerConstPtr |
| Abbrev. for shared const TebOptimalPlanner pointers. | |
| typedef boost::shared_ptr < TebOptimalPlanner > | teb_local_planner::TebOptimalPlannerPtr |
| Abbrev. for shared instances of the TebOptimalPlanner. | |
| typedef std::vector < TebOptimalPlannerPtr > | teb_local_planner::TebOptPlannerContainer |
| Abbrev. for containers storing multiple teb optimal planners. | |
| typedef std::vector < Eigen::Vector2d, Eigen::aligned_allocator < Eigen::Vector2d > > | teb_local_planner::ViaPointContainer |
| Typedef for a container storing via-points. | |